Comments (13)
I created a PR in this repo. Check out #35
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Hi @soldierofhell,
Yes, of course. But since the package is still in an early stage, I wanted to focus on bug fixing in ROS1 before porting to ROS2. I also expect some API changes in the integration with homotopy class planning (as it is done for the TEB).
However, the port to ROS2 should be straightforward as most of the code (planning backend) is ROS-free.
The only problem at the moment is my limited spare time for working on the project ;-)
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Thank you @croesmann. So I'll try to do it myself. Fortunatelly I noticed some similarities with teb code base, so should be easier.
Regards,
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Make sure to PR it back here! @croesmann can you open a ros2
branch?
Also, maybe some documentation about the current status of this work and any positives / negatives people should know.
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@croesmann , while doing ROS2 port I found a copy-bug here:
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Can we safely replace g2o::normalize_theta() with normalize_theta() from math_utils.h?
from mpc_local_planner.
Thanks for the pointer to the bug. I‘ll check that later.
Yes, you can safely replace the g2o variant by the internal normalizing function.
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I fixed the bug and synced ros2-master
with the ros1 master.
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@soldierofhell I'm also thinking about porting this to ROS2. How far along are you with your port? Maybe we can avoid doing the same work twice.
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I've already done it, although didn't have time to test it before holidays. I'm back on Monday and start testing
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Any estimation on when the PR will be available?
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Is there any update on this PR? I would like to use mpc_local_planner in ros2.
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Is there any update on this PR? I would like to use mpc_local_planner in ros-foxy.
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Related Issues (20)
- Use example get the "move_base-3" error. HOT 4
- catkin_make error HOT 1
- Error install dependencies
- Crash when goal is received HOT 1
- Distinctive topologies for mpc_local_planner
- Issue with release version
- MPC application in an omnidirectional robot
- Mpc local planner vs Teb local planner vs Dwa local planner HOT 6
- Unify the 3 dynamic reconfigure servers into one (retaining tabs) HOT 2
- Catkin build error due to missing arg HOT 1
- ros-foxy distribution.
- What's the difference between mpc_local_planner and mpc trajectory tracking control?
- What's the difference between mpc_local_planner and teb_local_planner and dwa_local_planner?
- how to install mpc local planner for four wheel steering robot ?
- move_base error HOT 2
- ubuntu20.04-catkin_make error HOT 1
- Dynamic Obstacles on MPC Local Planner
- mpc_local_planner can achieved a turn around in place?
- Noetic Catkin build error Ubunto 20.04 HOT 1
- Dynamic Obstacles in mpc_local_planner
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